4  * SPDX-License-Identifier: Apache-2.0
55 	struct can_native_linux_data *data = dev->data;  in dispatch_frame()
59 	k_mutex_lock(&data->filter_mutex, K_FOREVER);  in dispatch_frame()
61 	for (int filter_id = 0; filter_id < ARRAY_SIZE(data->filters); filter_id++) {  in dispatch_frame()
62 		if (data->filters[filter_id].rx_cb == NULL) {  in dispatch_frame()
66 		if (!can_frame_matches_filter(frame, &data->filters[filter_id].filter)) {  in dispatch_frame()
73 		callback = data->filters[filter_id].rx_cb;  in dispatch_frame()
74 		callback(dev, &tmp_frame, data->filters[filter_id].cb_arg);  in dispatch_frame()
77 	k_mutex_unlock(&data->filter_mutex);  in dispatch_frame()
83 	struct can_native_linux_data *data = dev->data;  in rx_thread()
95 		while (linux_socketcan_poll_data(data->dev_fd) == 0) {  in rx_thread()
96 			count = linux_socketcan_read_data(data->dev_fd, (void *)(&sframe),  in rx_thread()
99 				data->tx_callback(dev, 0, data->tx_user_data);  in rx_thread()
100 				k_sem_give(&data->tx_idle);  in rx_thread()
102 				if ((data->common.mode & CAN_MODE_LOOPBACK) == 0U) {  in rx_thread()
106 			if ((count <= 0) || !data->common.started) {  in rx_thread()
134 	struct can_native_linux_data *data = dev->data;  in can_native_linux_send()
138 	int ret = -EIO;  in can_native_linux_send()
141 		frame->dlc, dev->name, frame->id,  in can_native_linux_send()
142 		(frame->flags & CAN_FRAME_IDE) != 0 ? "extended" : "standard",  in can_native_linux_send()
143 		(frame->flags & CAN_FRAME_RTR) != 0 ? ", RTR frame" : "");  in can_native_linux_send()
146 	if ((frame->flags & ~(CAN_FRAME_IDE | CAN_FRAME_RTR |  in can_native_linux_send()
148 		LOG_ERR("unsupported CAN frame flags 0x%02x", frame->flags);  in can_native_linux_send()
149 		return -ENOTSUP;  in can_native_linux_send()
152 	if ((frame->flags & CAN_FRAME_FDF) != 0) {  in can_native_linux_send()
153 		if ((data->common.mode & CAN_MODE_FD) == 0U) {  in can_native_linux_send()
154 			return -ENOTSUP;  in can_native_linux_send()
161 	if ((frame->flags & ~(CAN_FRAME_IDE | CAN_FRAME_RTR)) != 0) {  in can_native_linux_send()
162 		LOG_ERR("unsupported CAN frame flags 0x%02x", frame->flags);  in can_native_linux_send()
163 		return -ENOTSUP;  in can_native_linux_send()
167 	if (frame->dlc > max_dlc) {  in can_native_linux_send()
168 		LOG_ERR("DLC of %d exceeds maximum (%d)", frame->dlc, max_dlc);  in can_native_linux_send()
169 		return -EINVAL;  in can_native_linux_send()
172 	if (data->dev_fd <= 0) {  in can_native_linux_send()
173 		LOG_ERR("No file descriptor: %d", data->dev_fd);  in can_native_linux_send()
174 		return -EIO;  in can_native_linux_send()
177 	if (!data->common.started) {  in can_native_linux_send()
178 		return -ENETDOWN;  in can_native_linux_send()
183 	if (k_sem_take(&data->tx_idle, timeout) != 0) {  in can_native_linux_send()
184 		return -EAGAIN;  in can_native_linux_send()
187 	data->tx_callback = callback;  in can_native_linux_send()
188 	data->tx_user_data = user_data;  in can_native_linux_send()
190 	ret = nsi_host_write(data->dev_fd, &sframe, mtu);  in can_native_linux_send()
192 		LOG_ERR("Cannot send CAN data len %d (%d)", sframe.len, -errno);  in can_native_linux_send()
201 	struct can_native_linux_data *data = dev->data;  in can_native_linux_add_rx_filter()
203 	int filter_id = -ENOSPC;  in can_native_linux_add_rx_filter()
205 	LOG_DBG("Setting filter ID: 0x%x, mask: 0x%x", filter->id,  in can_native_linux_add_rx_filter()
206 		filter->mask);  in can_native_linux_add_rx_filter()
208 	if ((filter->flags & ~(CAN_FILTER_IDE)) != 0) {  in can_native_linux_add_rx_filter()
209 		LOG_ERR("unsupported CAN filter flags 0x%02x", filter->flags);  in can_native_linux_add_rx_filter()
210 		return -ENOTSUP;  in can_native_linux_add_rx_filter()
213 	k_mutex_lock(&data->filter_mutex, K_FOREVER);  in can_native_linux_add_rx_filter()
215 	for (int i = 0; i < ARRAY_SIZE(data->filters); i++) {  in can_native_linux_add_rx_filter()
216 		if (data->filters[i].rx_cb == NULL) {  in can_native_linux_add_rx_filter()
224 		k_mutex_unlock(&data->filter_mutex);  in can_native_linux_add_rx_filter()
228 	filter_ctx = &data->filters[filter_id];  in can_native_linux_add_rx_filter()
229 	filter_ctx->rx_cb = cb;  in can_native_linux_add_rx_filter()
230 	filter_ctx->cb_arg = cb_arg;  in can_native_linux_add_rx_filter()
231 	filter_ctx->filter = *filter;  in can_native_linux_add_rx_filter()
233 	k_mutex_unlock(&data->filter_mutex);  in can_native_linux_add_rx_filter()
242 	struct can_native_linux_data *data = dev->data;  in can_native_linux_remove_rx_filter()
244 	if (filter_id < 0 || filter_id >= ARRAY_SIZE(data->filters)) {  in can_native_linux_remove_rx_filter()
249 	k_mutex_lock(&data->filter_mutex, K_FOREVER);  in can_native_linux_remove_rx_filter()
250 	data->filters[filter_id].rx_cb = NULL;  in can_native_linux_remove_rx_filter()
251 	k_mutex_unlock(&data->filter_mutex);  in can_native_linux_remove_rx_filter()
271 	struct can_native_linux_data *data = dev->data;  in can_native_linux_start()
273 	if (data->common.started) {  in can_native_linux_start()
274 		return -EALREADY;  in can_native_linux_start()
277 	data->common.started = true;  in can_native_linux_start()
284 	struct can_native_linux_data *data = dev->data;  in can_native_linux_stop()
286 	if (!data->common.started) {  in can_native_linux_stop()
287 		return -EALREADY;  in can_native_linux_stop()
290 	data->common.started = false;  in can_native_linux_stop()
297 	struct can_native_linux_data *data = dev->data;  in can_native_linux_set_mode()
303 		return -ENOTSUP;  in can_native_linux_set_mode()
308 		return -ENOTSUP;  in can_native_linux_set_mode()
312 	if (data->common.started) {  in can_native_linux_set_mode()
313 		return -EBUSY;  in can_native_linux_set_mode()
316 	err = linux_socketcan_set_mode_fd(data->dev_fd, (mode & CAN_MODE_FD) != 0);  in can_native_linux_set_mode()
319 		return -EIO;  in can_native_linux_set_mode()
322 	data->common.mode = mode;  in can_native_linux_set_mode()
327 static int can_native_linux_set_timing(const struct device *dev, const struct can_timing *timing)  in can_native_linux_set_timing()  argument
329 	struct can_native_linux_data *data = dev->data;  in can_native_linux_set_timing()
331 	ARG_UNUSED(timing);  in can_native_linux_set_timing()
333 	if (data->common.started) {  in can_native_linux_set_timing()
334 		return -EBUSY;  in can_native_linux_set_timing()
342 					    const struct can_timing *timing)  in can_native_linux_set_timing_data()  argument
344 	struct can_native_linux_data *data = dev->data;  in can_native_linux_set_timing_data()
346 	ARG_UNUSED(timing);  in can_native_linux_set_timing_data()
348 	if (data->common.started) {  in can_native_linux_set_timing_data()
349 		return -EBUSY;  in can_native_linux_set_timing_data()
359 	struct can_native_linux_data *data = dev->data;  in can_native_linux_get_state()
362 		if (!data->common.started) {  in can_native_linux_get_state()
371 		err_cnt->tx_err_cnt = 0;  in can_native_linux_get_state()
372 		err_cnt->rx_err_cnt = 0;  in can_native_linux_get_state()
450 	const struct can_native_linux_config *cfg = dev->config;  in can_native_linux_init()
451 	struct can_native_linux_data *data = dev->data;  in can_native_linux_init()
454 	k_mutex_init(&data->filter_mutex);  in can_native_linux_init()
455 	k_sem_init(&data->tx_idle, 1, 1);  in can_native_linux_init()
460 		if_name = cfg->if_name;  in can_native_linux_init()
464 	data->dev_fd = linux_socketcan_iface_open(if_name);  in can_native_linux_init()
465 	if (data->dev_fd < 0) {  in can_native_linux_init()
466 		LOG_ERR("Cannot open %s (%d)", if_name, data->dev_fd);  in can_native_linux_init()
467 		return -ENODEV;  in can_native_linux_init()
470 	k_thread_create(&data->rx_thread, data->rx_thread_stack,  in can_native_linux_init()
471 			K_KERNEL_STACK_SIZEOF(data->rx_thread_stack),  in can_native_linux_init()
476 	LOG_DBG("Init of %s done", dev->name);  in can_native_linux_init()
503 			.option = "can-if",  in DT_INST_FOREACH_STATUS_OKAY()